KR20220119602A - Information processing devices, information processing methods - Google Patents

Abstract

The present technology relates to an information processing apparatus and an information processing method capable of appropriately presenting the compatibility of a combination of planting materials. The information processing device of one aspect of the present technology provides sensor information obtained by measuring the flavor of food materials used for cooking with a sensor, food material property information indicating the affinity of the combination of the food materials, and the flavor of the food material or the flavor of the combination of the food materials The state of compatibility of the combination of planting materials is presented using flavor subjective information indicating the subjective evaluation of the person. This technique is applicable to the computer prepared in a kitchen.

Description

Information processing devices, information processing methods

The present technology particularly relates to an information processing apparatus and an information processing method capable of appropriately presenting the compatibility of a combination of planting materials.

DESCRIPTION OF RELATED ART In recent years, the technique of analyzing the flavor of a food or a drink with a sensor and judging the compatibility at the time of combining scientifically attracts attention.

Patent Document 1 discloses a technique for suggesting an image corresponding to an intermediate food material created by prior preparation of a dish in association with information indicating a process included in the prior preparation.

In Patent Document 2, information on the effectiveness of a nutrient for each combination of symptoms and nutrients and information on the content of nutrients for each combination of a food material and a nutrient are prepared. A technique proposed based on the tile and content is disclosed.

Japanese Patent Laid-Open No. 2019-20912 International Publication No. 2017/085777

In the above-described technology, information on ingredients is merely presented, and there is no disclosure of a method for presenting information on ingredients in association with a cooking operation to the cook.

It is convenient if, on the basis of the ingredients selected by the cook, a combination of new ingredients can be presented by interlocking the motion of the cook.

This technology was made in consideration of such a situation, and it is intended to properly present the compatibility of the combination of planting materials.

The information processing device of one aspect of the present technology provides sensor information obtained by measuring the flavor of a food material used for cooking with a sensor, plant material property information indicating the affinity of the combination of the plant material, and the flavor of the plant material or the plant material A presentation unit for presenting the state of compatibility of the combination of the above-mentioned food materials using flavor subjective information indicating the subjective evaluation of a person regarding the flavor of the combination is provided.

In one aspect of the present technology, sensor information obtained by measuring the flavor of food materials used for cooking with a sensor, plant material property information indicating the affinity of the combination of the plant materials, and the flavor of the plant material or the flavor of the combination of the plant materials The state of compatibility of the combination of the above-mentioned planting materials is presented using flavor subjective information indicating the subjective evaluation of the person.

1 is a diagram showing a cooking simulation apparatus according to an embodiment of the present technology.
2 is a diagram showing an example of presentation of simulation results.
3 is a diagram showing another example of presentation of a simulation result.
4 is a diagram showing an example of a simulation screen.
5 is a diagram showing an example of a simulation screen.
6 is a diagram showing an example of a simulation screen.
7 is a diagram showing an example of a simulation screen.
Fig. 8 is an enlarged view showing the fusion of icons.
9 is a diagram showing an example of presentation of a simulation result.
It is a figure which shows the example of planting compatibility information DB.
It is a figure which shows the example of the component of flavor.
12 is a diagram showing an example of information used for simulation.
It is a figure which shows the example of the information stored in flavor subjective information DB.
14 is a diagram illustrating an example of information stored in a sensing information DB.
15 is a diagram showing an example of information stored in the chemical structure information DB.
16 is a block diagram showing a configuration example of hardware of the cooking simulation apparatus.
Fig. 17 is a block diagram showing an example of the functional configuration of the cooking simulation apparatus.
18 is a flowchart for explaining a cooking simulation process.
19 is a diagram showing an example of presentation of simulation results.
It is a figure which enlarges and shows kitchen periphery.
Fig. 21 is a diagram showing the configuration of a taste sensor;
22 is a block diagram showing a configuration example of a cooking simulation apparatus.
It is a figure which shows the example of the flow of generation|generation of NEW recipe data.
It is a figure which shows the structural example of the control system using recipe data.
It is a figure which shows the example of description content of recipe data.
26 is a diagram showing an example of a flow of reproduction of a dish based on recipe data.
27 is a diagram showing an arrangement example of a data processing apparatus.
28 is a perspective view showing an external appearance of the cooking robot;
29 is an enlarged view of the cooking arm.
It is a figure which shows the external appearance of a cooking arm.
It is a figure which shows the example of the movable area|region of each part of a cooking arm.
It is a figure which shows the example of the connection of a cooking arm and a controller.
Fig. 33 is a block diagram showing a configuration example of a cooking robot.
34 is a block diagram showing an example of the functional configuration of the data processing apparatus.
Fig. 35 is a block diagram showing an example of the functional configuration of the cooking simulation apparatus.
It is a flowchart explaining the NEW recipe data generation process of a cooking simulation apparatus.
37 is a flowchart for explaining control processing of the data processing apparatus.
38 is a diagram showing an example of a system configuration.
Fig. 39 is a diagram showing a configuration example of an information processing system.

<<Overview of the present technology>>

The present technology simulates the state of compatibility between the combinations of food materials, and presents the simulation results in a form that is linked to the operation of the cook in the cooking process.

It becomes possible for the cook to think of a new dish recipe with reference to the simulation result. That is, the present technique is used by cooks as a tool to support thinking of new recipes for cooking.

Hereinafter, the form for implementing this technique is demonstrated. The description is given in the following order.

1. Presentation of simulation results for a chef who is thinking of a recipe

2. Generation of NEW recipe data using simulation results

3. Variations

<<1. Presentation of simulation results for a chef thinking of a recipe>>

<Cooking Simulator>

1 is a diagram showing a cooking simulation apparatus according to an embodiment of the present technology.

In the example of FIG. 1, the cooking simulation apparatus 1 which has a large-sized display is installed in the wall near the chef (cooker) who becomes a user.

The cooking simulation device 1 is, for example, an information processing device used when a chef in a kitchen is thinking of a recipe by trying various ingredients, trying various recipes, or tasting to make a new dish. to be. The cooking simulation apparatus 1 has a function of performing a simulation of the state of the compatibility of a combination of food materials, and presenting a simulation result.

The state of the compatibility of a combination of plant materials includes the degree of good compatibility when a plurality of plant materials are combined, and a flavor when a plurality of plant materials are combined. Good compatibility is determined by the flavor of the combination of the plant materials (flavor of the plant material obtained by combining a plurality of plant materials).

The presentation includes at least any of visually presenting using an on-screen display and aurally using a voice.

In addition, cooking means the result which is completed through cooking. Cooking refers to the process of making a dish or the act of making a dish (work).

In the example of FIG. 1 , the cooking simulation device 1 is a device having a thin TV-type housing, but it may be a device having a housing of another type, such as a portable device such as a tablet terminal or a smartphone, or a wearable device. .

2 is a diagram showing an example of presentation of simulation results.

The situation shown in the upper part of FIG. 2 is a situation where the chef selects a carrot from among various food materials as a food material used for cooking, and is thinking about a plant material suitable for carrot. The chef is thinking of a recipe for a dish using carrots and other ingredients that are compatible with carrots.

For example, as shown in speech bubble #1, when the chef utters "Tell me what ingredients are suitable for carrots", as shown in front of arrow A1, carrots and other ingredients must be combined by the cooking simulation device 1 as shown in front of arrow A1. A simulation of the state of compatibility at the time is performed. A screen showing a simulation result is displayed on the display of the cooking simulation apparatus 1 .

By looking at the simulation result presented by the cooking simulation device 1, the chef can notice that salmon is suitable for carrots, as shown in speech bubble #2, for example. Based on this realization, as indicated in front of arrow A2, the chef creates a new recipe using carrots and salmon.

In this way, the cooking simulation apparatus 1 is used as a tool to support thinking of recipes when the chef uses his creativity to think of recipes. The chef can think of a new recipe with reference to the simulation result presented by the cooking simulation device 1 .

Since the operation requiring simulation can be performed by voice, the chef can perform the simulation while working using his hands while cooking, confirm the simulation result, and think of a recipe. That is, the simulation result is presented in conjunction with the chef's operation to make a speech. You may make it possible to perform operation requesting a simulation by operation using a hand, such as operation with respect to a touch panel.

The chef can confirm the combination of various planting materials by changing the planting materials used as a reference one by one and performing a simulation. In the simulation of FIG. 2, the planting material used as a reference|standard is a carrot.

Usually, the devise of a new recipe is carried out by actually cooking by combining various ingredients, and judging whether a flavor is as imagined by a taste or not. Since the state of compatibility of the combination of ingredients is presented, the chef can proceed with cooking after confirming the degree of compatibility and flavor before actually cooking. Since wasted food materials can be reduced, it is also possible to deal with the so-called food loss problem to proceed with cooking after confirming the degree and flavor of good compatibility.

If the flavor is not good as a result of actually cooking using the ingredients selected based on the simulation results, the chef can make a simulation of the flavor state again by, for example, “Tell me a different combination”. have. The devising of a new recipe proceeds by interaction between the chef and the cooking simulation device 1 .

3 is a diagram showing another example of presentation of a simulation result.

The simulation by the cooking simulation device 1 is performed not only according to the request by voice, but also according to the recognition result of the operation|movement of a chef during cooking. The chef's motion is recognized by analyzing the image photographed by the camera installed toward the chef who is cooking. The cooking simulation apparatus 1 is equipped with a function for recognizing the chef's operation.

For example, as shown in the upper part of FIG. 3 , when the action of a chef holding a carrot in his hand and thinking about a plant suitable for carrot is recognized, as shown in front of the arrow, the combination of carrot and other planting materials is A simulation of the state of synergy is performed, and the result is presented.

A simulation that triggers such a chef's operation is repeatedly performed while the chef is cooking. For example, when it is recognized that the chef intends to cook using other ingredients after carrots, a simulation of the state of salience is performed by changing the standard ingredients.

Usually, since cooking proceeds using a plurality of ingredients, the simulation result changes in conjunction with the chef's operation even without an explicit request by the chef's voice.

<Example of GUI>

4 is a diagram showing an example of a simulation screen.

A simulation screen is comprised as a screen which displays the state at the time of seeing from a certain viewpoint the virtual space in which the spheres representing planting are scattered. One sphere corresponds to one planting. Food materials include processed foods, seasonings, and beverages such as water and alcohol, in addition to plant foods such as vegetables and fruits, and animal foods such as meat and fish.

In the approximate center of the simulation screen, a reference planting icon P1 indicating a reference planting serving as a reference for combination with other plantings is arranged. In the example of FIG. 1, the reference|standard planting icon P1 becomes the icon which shows "Pinot Noir." The reference planting icon P1 is comprised by arrange|positioning the character of "Pinot Noir" on the image of Pinot Noir.

The simulation screen shown in FIG. 4 is a screen displayed when Pinot Noir is selected as a reference planting material according to the chef's request by voice or based on the recognition result of the chef's motion. When the Pinot Noir is selected as the reference planting, the reference planting icon P1 at the spaced-apart position approaches, and a figure arranged approximately in the center of the simulation screen is displayed.

When the reference planting icon P1 is arrange|positioned, as shown in FIG. 5, the appropriate planting icon which is an icon which shows an appropriate planting is arrange|positioned side by side in annular shape centering on the reference planting icon P1. An appropriate planting material is a planting material said to have good compatibility since the compatibility when combined with a reference|standard planting material satisfy|fills predetermined conditions.

Each appropriate planting icon is displayed so as to gather around the reference planting icon P1 from a spaced apart position, and then moves slowly around the standard planting icon P1. In the example of FIG. 5 , appropriate planting icons P11-1 to P11-10 indicating 10 kinds of appropriate planting are displayed as icons of plantings having good compatibility with Pinot Noir.

As will be described later, in the cooking simulation apparatus 1, a database DB of planting properties information, which is information indicating the properties of combinations of respective plant materials, is prepared. Selection of an appropriate planting material is performed based on the planting property information stored in the DB prepared in the cooking simulation apparatus 1 .

After the appropriate planting icons P11-1 to P11-10 are arranged around the reference planting icon P1, as shown in FIG. 6 , each icon moves according to the compatibility between plantings. At least any one of the reference planting icon and the plurality of appropriate planting icons moves according to the compatibility of the respective plantings.

For example, movement of the icon is performed so that plantings with good compatibility approach, and plantings with bad compatibility are separated from each other. When two icons collide, a state in which two icons are connected and fused as one icon is displayed.

In the example of FIG. 6 , an appropriate planting icon P11-1 and an appropriate planting icon P11-10, an appropriate planting icon P11-3 and an appropriate planting icon P11-4, and an appropriate planting icon P11-8 and an appropriate planting icon P11-9 , respectively, are shown in a partially fused state. For example, the appropriate planting icon P11-1 is an icon representing "iberian ham", and the appropriate planting icon P11-10 is an icon representing "Blackberry".

The fact that the icons are fused and displayed indicates that the compatibility is good when the planting materials represented by the fused icons are combined. That is, by the movement of the icon and the change in the shape of the icon, the good combination is presented in a visually identifiable state.

Conversely, icons indicating poor compatibility when combined move so as to be spaced apart. By moving the icon, even the poor compatibility of the combination is presented in a visually identifiable state.

FIG. 7 is a diagram showing an example of a simulation screen displayed subsequent to the screen of FIG. 6 .

In the example of FIG. 7, fusion of each icon progresses, for example, in addition to the appropriate planting icon P11-1 and the appropriate planting icon P11-10, the reference planting icon P1 is also displayed in the partially fused state. Such indication is performed when, for example, the planting material obtained by combining iberian ham and blackberry has good compatibility with the reference planting material, Pinot Noir.

Since the compatibility of the planting material is determined by the flavor as described above, depending on the flavor of the combined planting material obtained by combining a plurality of planting materials, from among the planting materials displayed up to that time, the planting material with good compatibility with the combined planting material also comes out, Bad food is also available. That is, when icon fusion occurs, some icons approaching the fused icons and separated icons exist among the icons displayed until then.

Thus, in the simulation screen, the state of the compatibility of the combination of each planting material changes dynamically and is displayed.

From the display of FIG. 7, the chef can confirm that what is necessary is just to use combining iberian ham and blackberry with respect to the Pinot Noir selected as a reference planting material.

Fig. 8 is an enlarged view showing the fusion of icons.

The icons shown in a partially fused state in the upper part of FIG. 8 are an icon P21-1 representing Nori (seaweed) and an icon P21-2 representing chocolate. Icon P21-1 is constituted by an image of seaweed, and icon P21-2 is constituted by an image of chocolate.

When the state of compatibility of the combination of seaweed and chocolate is good, a state in which the icon P21-1 and the icon P21-2 are fused is displayed on the simulation screen.

When the fusion of the icon P21-1 and the icon P21-2 proceeds, as shown in the lower part of FIG. 8 , the combined planting of seaweed and chocolate is displayed as one icon P22. The icon P22 is constituted by a composite image in which an image of seaweed and an image of chocolate are synthesized.

In this way, as the fusion of icons progresses, the combined planting material finally obtained by combining a plurality of planting materials is represented by one icon.

The composite image constituting the icon P22 shows the flavor of the combination of seaweed and chocolate. For example, the flavor of laver and the flavor of chocolate are contained in the combination food materials of laver and chocolate. The composite image constituting the icon P22 is generated by blending the image of seaweed and the image of chocolate at a ratio corresponding to the intensity of each flavor. For example, when the flavor of chocolate is stronger than the flavor of seaweed in the flavor of a combination planting material, the icon P22 is comprised by the composite image in which more elements of the image of chocolate remain.

When the icon of the combination planting is constituted by the composite image, the flavor of the combination of a plurality of planting materials is presented in a visually identifiable state. The chef can confirm the flavor of the combination food from the display of the composite image constituting the icon.

When a some food material is combined, a new flavor may generate|occur|produce other than the flavor of each food material. In that case, the display of the icon is changed so as to express a newly generated flavor. For example, a newly generated flavor is expressed by the color of the icon, the shape of the icon, and the like.

In the case where icons of a certain planting material are fused, when there is a planting material with poor compatibility with the combined planting material, the icon of the planting material having poor compatibility may disappear from the simulation screen.

Moreover, you may make it so that the icon which has been fused once is displayed separately. Separation of the icon occurs, for example, when, among a plurality of plantings in which the icons are fused, a planting that has a better compatibility with the planting of the icon at a spaced apart position than that with the fused planting is included.

By displaying the simulation screen that dynamically changes in this way, the chef can confirm the ingredients with good compatibility when combined, and can confirm the flavor when combined.

Since the goodness of the compatibility is determined by the flavor, the state of the compatibility of the combination of ingredients is suggested in association with the flavor of the ingredients or the flavor of the combination of ingredients. The reference material and the appropriate material may be materials described in the recipe prepared by the chef, or may be new materials not described in the recipe. The recipe also includes recipe data to be described later used to control the cooking robot.

Moreover, based on the simulation result, you may make it suggest the state of the compatibility of a combination which the chef who is cooking did not recognize. In this case, the cooking simulation apparatus 1 prepares the data of the chef's recipe. A combination of ingredients not described in the recipe prepared in the cooking simulation device 1 is selected, for example, as a combination that the chef did not recognize.

Thereby, the chef can confirm the state of the compatibility of a combination that he does not know.

<Presentation of cooking results>

In the cooking simulation apparatus 1 as well as the state of the compatibility of the combination of food materials, the simulation of the state of the food materials when cooking is performed, and the simulation result is presented.

9 is a diagram showing an example of presentation of a simulation result.

As shown in the upper part of Fig. 9, when the operation of the chef who puts the potatoes in the pot is recognized by the cooking simulation device 1, as shown in front of the arrow, the state of the planting material when the potatoes are thoroughly boiled in the pot simulation is performed, and the results are presented.

By viewing the simulation result presented by the cooking simulation device 1 , the chef can check how long the potatoes need to be boiled, how much heat power can be boiled, and the like. In this case, the cooking simulation apparatus 1 is prepared with information indicating a change in the food material when each food material is cooked by various methods.

Usually, since one dish is completed through a plurality of cooking processes, the simulation result is dynamically changed in conjunction with the chef's operation.

In this way, it is possible to make the cooking simulation apparatus 1 perform various simulations related to cooking other than the state of compatibility of the combination of food materials. For example, in the state of FIG. 9, it is not the state of a food material, but the simulation of the flavor of the food material obtained by cooking is performed, and you may make it show a simulation result.

<About planting compatibility information>

It is a figure which shows the example of planting compatibility information DB.

Planting affinity information DB11 is DB of planting planting affinity information. The planting property information DB 11 is prepared in the cooking simulation apparatus 1, for example.

In the planting compatibility information DB 11, planting compatibility information which is information showing the compatibility of each planting with other planting materials is stored. As shown in the speech bubble of FIG. 10, for example, in the planting compatibility information of the planting A, information showing the compatibility of the combination of the planting A and the plant B, the information showing the compatibility of the combination of the planting A and the planting C, ... Included. Similarly about the planting compatibility information of the planting material B and the planting plant C, the information which shows the compatibility of a combination with another planting material is included, respectively.

Compatibility between planting materials is expressed, for example, by numerical values. In this case, the higher the numerical value of the planting compatibility information, the better the planting properties when combined, and the lower the numerical value, the poorer the planting properties when combined.

When a certain planting material is selected as a reference planting material, for example, a planting material whose numerical value of planting property information is equal to or more than a threshold is selected as an appropriate planting material, and the presentation as described above is performed. The conditions of the planting property information used as an appropriate planting are set in advance, and the planting material which satisfies the conditions is selected as an appropriate planting material.

The numerical value which shows the compatibility of planting materials is set by, for example, a person's experience, or a person actually eats a combined planting material, and evaluates the compatibility.

As will be described later, when information indicating characteristics of a planting material such as flavor or chemical structure is prepared, a numerical value indicating the affinity between the planting materials may be obtained and set based on the information indicating the characteristics of the planting material. In this case, the numerical value which shows the compatibility of planting materials is calculated|required by analyzing the information which shows the characteristic of each planting material, or performing calculation based on the information which shows the characteristic of each planting material.

When the recipes of various dishes are prepared, you may make it the compatibility of food materials calculated|required based on a recipe. In each recipe, the ingredients to be used are described. For example, a planting material with high frequency used in combination is set as a planting material with good compatibility at the time of combining.

In this way, you may make it the compatibility of a planting material determined based on another reference|standard.

Moreover, you may make it store in the planting affinity information DB11 the combination planting obtained by combining a certain planting material and another planting material, and the information which shows the affinity of each planting material as planting property information.

You may make it store in the planting affinity information DB11 as planting property information DB11, the information which shows the plant material after cooking obtained by cooking a certain plant material by various methods, and the affinity of each plant material.

Compatibility of planting materials may differ depending on nationality, region, culture, etc. You may make it so that the planting compatibility information DB 11 is prepared for each difference in the attribute of planting, such as nationality, a region, and a culture.

You may make it each chocolate, every pure rice wine, and every fruit wine so that the planting material property information DB11 is prepared for every category of a planting material.

It is a figure which shows the example of the component of flavor.

As shown in Fig. 11, the taste perceived by the human brain, that is, the "flavor" is mainly composed of a combination of the taste obtained by the human sense of taste, the fragrance obtained by the human sense of smell, and the texture obtained by the touch of the person. .

The compatibility of the combination of ingredients is determined by the taste when the ingredients are combined, the aroma when the ingredients are combined, and the texture when the ingredients are combined. At least any one of a taste, a fragrance, and a texture may be made to determine the affinity of a combination of food materials.

12 is a diagram showing an example of information used for simulation.

In the simulation of the state of compatibility of the combination of food materials, in addition to the planting compatibility information, the flavor subjective information stored in the flavor subjective information DB 21 , the sensing information stored in the sensing information DB 22 , and the chemical structure information DB 23 . ) stored in the chemical structure information is used.

Since the state of the compatibility of the planting material combination includes the degree of good compatibility of the planting materials and the flavor when the planting materials are combined, the planting compatibility information is mainly used for specifying the degree of the good compatibility of the planting material. In addition, flavor subjective information, sensing information, and chemical structure information are mainly used for identification of the flavor at the time of combining food materials.

When the flavor of the combination of the ingredients is specified based on the flavor subjective information and the sensing information, the presentation of the state of compatibility of the combination of the ingredients by the cooking simulation device 1 is the flavor subjective information and the sensing information. And, it will be done using planting compatibility information.

In addition, when the identification of the flavor at the time of combining food materials is performed based on flavor subjective information, sensing information, and chemical structure information, presentation of the state of the compatibility of the combination of food materials by the cooking simulation apparatus 1 is a flavor It is performed using subjective information, sensing information, chemical structure information, and planting compatibility information.

Four types of DBs of planting compatibility information DB11, flavor subjective information DB21, sensing information DB22, and chemical structure information DB23 may be prepared in the cooking simulation apparatus 1, and the Internet You may make it ready on the server on the top. Four types of DB may be distributed and prepared in the cooking simulation apparatus 1 and the server on the Internet.

13 : is a figure which shows the example of the information stored in flavor subjective information DB21.

Flavor subjective information DB 21 is a database of subjective evaluation regarding the flavor of each plant material. For example, each food material is made to be eaten by a large number of people, and information expressing a subjective evaluation value of a flavor by a predetermined scale is stored in the flavor subjective information DB 21 as flavor subjective information.

For example, the flavor subjective information of the plant material A and the plant material B is represented by the vector expression (e dimension) in the flavor subjective evaluation space E like following formula (1).

Similarly about other planting materials, flavor subjective information is displayed by the vector which makes each item of subjective evaluation an element. For example, EAi is a coefficient according to the evaluation value of the item of the index i included in the subjective evaluation of the planting A.

14 is a diagram illustrating an example of information stored in the sensing information DB 22 .

The sensing information DB 22 is a database of the sensing result of the flavor of each plant material. For example, in a cooking process, the flavor of each food material is measured by a flavor measuring device, and sensing information (sensor information) obtained as a measurement result is stored in the sensing information DB 22 .

Since a flavor is represented by a taste, a fragrance, and a texture, the flavor of each food material is measured using a taste measuring instrument, a fragrance measuring instrument, a texture measuring instrument, etc. In addition, the texture includes elasticity, viscosity, temperature, and the like of the planting material.

The sensing information of the planting A and the planting B is represented by a vector expression (s-dimensional) in the sensing information space S as in the following formula (2).

Similarly for other plantings, sensing information is expressed by a vector having each item as an element. For example, SAi is a coefficient according to the sensor value of the item of the index i, which is included in the sensing information of the planting A.

15 is a diagram showing an example of information stored in the chemical structure information DB 23 .

The chemical structure information DB 23 is a database of the chemical structure of each planting material. For example, the chemical structure of each planting material is measured by a separation analyzer using the principle of chromatography, and chemical structure information obtained as a measurement result is stored in the chemical structure information DB 23 .

The chemical structure information of the planting materials A and B is represented by a vector representation (c-dimensional) in the chemical structure space Ch by using a molecular descriptor as in the following formula (3).

Similarly for other planting materials, chemical structure information is expressed by a vector having each chemical substance used for expression of the chemical structure as an element. For example, NAi is a coefficient according to the amount of the chemical substance of index i contained in planting A. Plant A and Plant B have a chemical that exists only in each, but the coefficient of that chemical is zero.

You may make it express the chemical structure of each planting material using other technical methods, such as a structural descriptor and a count descriptor. In addition to the chemical structure, information indicating other chemical characteristics such as properties and reactions may be prepared in the chemical structure information DB 23 .

<Configuration example of cooking simulation device>

16 is a block diagram showing a configuration example of hardware of the cooking simulation apparatus 1 .

As shown in Fig. 16, the cooking simulation apparatus 1 is constituted by a computer. A CPU (Central Processing Unit) 101 , a ROM (Read Only Memory) 102 , and a RAM (Random Access Memory) 103 are connected to each other by a bus 104 .

The CPU 101 loads the program stored in the storage unit 111, for example, into the RAM 103 via the input/output interface 105 and the bus 104, and executes it, whereby various processings such as simulation related to cooking is done

An input/output interface 105 is connected to the bus 104 . The input/output interface 105 is connected to a microphone 106 , a camera 107 , an operation unit 108 , a display 109 , a speaker 110 , a storage unit 111 , a communication unit 112 , and a drive 113 . do.

The microphone 106 detects the chef's voice and outputs the voice data to the CPU 101 .

The camera 107 captures a situation around the cooking simulation apparatus 1 including the chef's actions. The image data photographed by the camera 107 is supplied to the CPU 101 .

The operation unit 108 is constituted by a touch panel provided on top of the display 109 , a button provided on the housing of the cooking simulation apparatus 1 , and the like. The operation unit 108 detects the chef's operation and outputs information indicating the contents of the operation to the CPU 101 . The operation of the cooking simulation apparatus 1 may be performed using a touch panel or a button instead of by voice.

The display 109 is constituted by an LCD, an organic EL display, or the like. The display 109 displays a simulation screen according to control by the CPU 101 .

The speaker 110 outputs the synthesized voice according to the control by the CPU 101 . The presentation of the simulation result may be performed by audio output from the speaker 110 .

The storage unit 111 is constituted by a hard disk, a nonvolatile memory, or the like. The storage unit 111 stores various types of information such as a program executed by the CPU 101 . Planting affinity information DB11, flavor subjective information DB21, sensing information DB22, and chemical structure information DB23 may be made to build in the memory|storage part 111.

The communication unit 112 is constituted by a network interface or the like. The communication unit 112 communicates with a server on the Internet. The communication unit 112 receives the information transmitted from the server, outputs it to the CPU 101 , and transmits the information supplied from the CPU 101 to the server.

The drive 113 drives the removable medium 114 to read data from the removable medium 114 and write data to the removable medium 114 .

17 is a block diagram showing an example of the functional configuration of the cooking simulation apparatus 1 .

As shown in FIG. 17 , in the cooking simulation apparatus 1 , a simulation target recognition unit 131 , a simulation calculation unit 132 , and a presentation unit 133 are realized. At least some of the functional units shown in FIG. 17 are realized by executing a predetermined program by the CPU 101 of FIG. 16 .

The simulation target recognition unit 131 analyzes the audio data supplied from the microphone 106 or the image data supplied from the camera 107 to recognize the simulation target.

For example, the simulation target recognition unit 131 may use carrot as the reference planting material when determining that the chef has made an utterance such as "Tell me a suitable planting material for carrots" based on the analysis result of the audio data. It is recognized that simulation of the state of compatibility of combinations is performed.

Similarly, in the case of specifying the chef's idea of a suitable planting material for carrots based on the analysis result of image data, the simulation target recognition unit 131 uses carrots as the reference planting material to simulate Recognize what you are doing

The simulation target recognition part 131 recognizes that the simulation of the change of the state of a planting material is performed, when the chef specifies based on the analysis result of image data that the chef puts a potato into a pot.

The simulation target recognition unit 131 outputs information indicating the recognized simulation target to the simulation calculation unit 132 .

The simulation calculation unit 132 simulates the target recognized by the simulation target recognition unit 131 .

The simulation calculation unit 132 selects an appropriate planting material based on the planting planting property information when simulating the state of compatibility with other planting materials using carrot as a reference planting material.

For example, the planting material in which the numerical value of planting compatibility information which shows compatibility with carrot becomes more than a threshold value is selected as an appropriate planting material. The simulation calculation unit 132 specifies the movement of the reference planting icon and each appropriate planting icon based on planting compatibility information.

Moreover, the simulation calculating part 132 performs simulation of the flavor when the carrot which is a reference planting material and each appropriate planting material are combined, and the flavor when appropriate planting materials are combined.

The simulation of the flavor of the combination of food materials is performed based on sensing information and flavor subjective information. For example, the simulation calculating part 132 performs predetermined calculations, such as vector calculation, based on the sensing information and flavor subjective information of the plant material used as the combination object, and specifies the flavor when those plant materials are combined.

Instead of using both the sensing information and the flavor subjective information, it is possible to cause the flavor to be simulated using at least any of the sensing information, the flavor subjective information, and the chemical structure information.

Moreover, when simulation of the change of the state of a planting material is performed, the simulation calculating part 132 simulates the change of flavor based on the information stored in DB (not shown). In the cooking simulation apparatus 1 , as a DB accessible to the simulation calculating unit 132 , a DB of information indicating a change in flavor when each food material is cooked by various methods is prepared.

The simulation calculation unit 132 outputs information indicating the simulation result to the presentation unit 133 .

The presentation unit 133 controls the display 109 to display a simulation screen based on the simulation result by the simulation operation unit 132 .

In addition, the presentation unit 133 outputs, from the speaker 110 , a voice representing the simulation result based on the simulation result by the simulation calculating unit 132 when the simulation result is presented by synthetic voice.

<Operation of cooking simulation device>

With reference to the flowchart of FIG. 18, the cooking simulation process of the cooking simulation apparatus 1 is demonstrated.

In step S1, the microphone 106 detects the chef's voice.

In step S2, the camera 107 captures a situation around the cooking simulation apparatus 1 including the chef's operation.

In step S3, the simulation target recognition unit 131 analyzes the audio data supplied from the microphone 106 or the image data supplied from the camera 107 to recognize the simulation target.

In step S4 , the simulation calculation unit 132 simulates the target recognized by the simulation target recognition unit 131 .

In step S5, the presentation unit 133 controls the display 109 to present the simulation result to the chef.

Then, it returns to step S1, and the above process is repeated. The process of FIG. 18 is repeatedly performed, for example while cooking is being performed.

By the above process, the cooking simulation apparatus 1 can dynamically present the affinity of each food material combination and the flavor when each food material is combined with respect to the chef who is considering a new recipe. That is, the cooking simulation apparatus 1 can properly present the compatibility of a combination of food materials.

The chef can create a new recipe by referring to the state of compatibility of the combination of ingredients.

<Example of dynamically generating planting compatibility information>

Although it is assumed that the planting compatibility information is prepared in the cooking simulation device 1 in a state in which the planting compatibility information is stored in the planting compatibility information DB 11, the planting compatibility information may be generated while the chef is cooking while thinking of a new recipe.

In this case, based on the plant material property information generated during cooking, a simulation of the condition of the plant material combination is performed, and the simulation result is presented during cooking. Planting compatibility information is dynamically generated according to the chef's action, and a simulation is performed based on the generated planting compatibility information.

19 is a diagram showing an example of presentation of simulation results.

The situation shown in the upper part of FIG. 19 is a situation where a chef is thinking about a recipe while cooking. A flavor measuring device for detecting the flavor of the food material being cooked is provided around the chef. With a flavor measuring device, the data constituting the flavor of the ingredients the chef is cooking is measured during cooking.

Data indicating the measurement result by the flavor measuring device is transmitted to the cooking simulation device 1 . As data indicating the measurement result, taste data indicating the measurement result of taste, aroma data indicating the measurement result of aroma, and texture data indicating the measurement result of texture are transmitted.

In the cooking simulation apparatus 1, sensing information is generated based on the data transmitted from the flavor measuring device. As described above, the sensing information is information indicating the flavor of the plant material.

Moreover, in the cooking simulation apparatus 1, based on the sensing information, planting property information is produced|generated. The plant material compatibility information generated here is information showing the flavor compatibility between the food material being cooked and the other food material.

Compatibility of planting is calculated|required by performing predetermined calculations, such as a vector calculation, based on sensing information. For example, planting compatibility information indicating the compatibility between the sensing information of the food being cooked and the calculation result based on the sensing information of the plant stored in the sensing information DB 22 is a combination of the food under cooking and other ingredients. is created as

After the planting property information is generated, a simulation of the planting property state of the combination of the planting materials using the plant material being cooked as the reference planting material is performed, and the simulation result is presented as shown in front of the arrow.

The chef who confirmed the simulation result presented by the cooking simulation apparatus 1 can confirm the foodstuff suitable for the foodstuff being cooked, and can think of a new recipe.

It is a figure which enlarges and shows kitchen periphery.

Around the kitchen where the chef cooks, various devices constituting the flavor measuring device are provided. Some of their devices are installed on the chef's body.

The appliances provided around the kitchen are respectively connected to the cooking simulation apparatus 1 through wired or wireless communication. You may make it each apparatus provided in the periphery of a kitchen connected to the cooking simulation apparatus 1 via a network.

As shown in Fig. 20, the chef's upper body is provided with a fragrance sensor 141. The fragrance sensor 141 measures the fragrance of the food material being cooked, and transmits the fragrance data to the cooking simulation apparatus 1 .

A taste sensor 142 is provided on the top plate of the kitchen. The taste sensor 142 measures the taste of the food material and transmits the taste data to the cooking simulation device 1 .

The taste sensor 142 is used by making the sensor part 142A provided at the end of a cable contact the plant material being cooked, as shown in FIG. When the taste sensor 142 is an artificial lipid membrane type taste sensor, the lipid membrane is provided in the sensor unit 142A.

Not only the taste data but also the texture data may be measured by the taste sensor 142 and transmitted to the cooking simulation apparatus 1 . In this case, the taste sensor 142 is provided with a function as a texture sensor. For example, texture data such as polymer content, water content, and oil content are measured by the taste sensor 142 .

In this way, the fragrance sensor 141 and the taste sensor 142 are prepared, for example as a flavor measuring instrument. Around the kitchen, various devices other than the device shown in Fig. 20 are also appropriately prepared.

22 is a block diagram showing a configuration example of the cooking simulation apparatus 1 .

Among the structures shown in Fig. 22, the same reference numerals are assigned to the same components as those described above. The overlapping description is appropriately omitted. The configuration shown in FIG. 22 is provided in addition to the configuration described with reference to FIGS. 16 and 17 .

In the cooking simulation apparatus 1, when a predetermined program is executed by the CPU 101 (FIG. 16), the sensing information generating unit 161, the flavor subjective information generating unit 162, and the planting affinity information generating unit ( 163) is realized. Data output from the fragrance sensor 141 , the taste sensor 142 , and the texture sensor 143 are input to the sensing information generating unit 161 .

The texture sensor 143 is constituted by sensors that output various data used for analysis of texture, such as a hardness sensor, a stress sensor, a moisture content sensor, and a temperature sensor. A hardness sensor, a stress sensor, a moisture content sensor, and a temperature sensor may be made to be provided in cooking tools, such as a kitchen knife, a frying pan, and an oven.

The sensing information generating unit 161 includes the fragrance data transmitted from the fragrance sensor 141 , the taste data transmitted from the taste sensor 142 , and texture data transmitted from the taste sensor 142 or the texture sensor 143 . Based on the , sensing information indicating the flavor of the food being cooked is generated. The sensing information generated by the sensing information generation unit 161 is supplied to the flavor subjective information generation unit 162 and the planting affinity information generation unit 163 .

The flavor subjective information generating unit 162 generates flavor subjective information based on the sensing information supplied from the sensing information generating unit 161 . In the flavor subjective information generating unit 162 , information used when converting the sensing information into flavor subjective information is prepared in advance. The flavor subjective information generation unit 162 generates the flavor subjective information by converting the sensing information into the flavor subjective information.

An inference model, such as a neural network, which takes sensing information as input and uses flavor subjective information as output, may be trained in advance, and may be prepared in the flavor subjective information generation unit 162 . In this case, the flavor subjective information generation unit 162 inputs the sensing information supplied from the sensing information generation unit 161 into the inference model, and generates the output as flavor subjective information. The flavor subjective information generated by the flavor subjective information generation unit 162 is supplied to the planting affinity information generation unit 163 .

You may make it generate|occur|produce the flavor subjective information based on the subjective evaluation of the flavor input by the chef at the timing etc. at which the tasting was performed. In this case, the chef tastes the ingredients being cooked and inputs the flavor he feels.

A biosensor may be provided on the body of the chef during cooking so that flavor subjective information is generated based on a bioreaction measured by the biosensor when tasting is performed.

The planting compatibility information generating unit 163, based on the sensing information of the food being cooked supplied from the sensing information generating unit 161, and the sensing information of each food material stored in the sensing information DB 22, Planting compatibility information indicating the compatibility between plantings and other plantings is generated. Planting compatibility information is generated by performing predetermined calculations, such as vector calculation, based on sensing information.

In addition, the plant material affinity information generating unit 163 includes the flavor subjective information of the food under cooking supplied from the flavor subjective information generating unit 162 , and flavor subjective information of each food material stored in the flavor subjective information DB 21 . Based on the , planting compatibility information indicating the compatibility between the cooking ingredient and other ingredients is generated. Planting affinity information is produced|generated by performing predetermined|prescribed calculations, such as a vector calculation, based on flavor subjective information.

You may make it perform the production|generation of planting affinity information by the planting affinity information generation|generation part 163 by combining and using flavor subjective information and sensing information. Planting affinity information is produced|generated using at least any one of flavor subjective information and sensing information.

By using the flavor subjective information, the sensing information, and the chemical structure information in combination, you may make it produce|generate planting property information. Planting property information is produced|generated using at least any one of flavor subjective information, sensing information, and chemical structure information.

The planting property information generated by the planting property information generation unit 163 is supplied to the simulation calculation unit 132 ( FIG. 17 ) as planting property information of the reference planting material, and is used for simulation of the condition of the planting property combination of the planting material.

When the generation of the plant material compatibility information is performed based on the flavor subjective information and the sensing information of the food material being cooked, the presentation of the state of compatibility of the food material combination by the cooking simulation device 1 is performed with the flavor subjective information and the sensing information , it is done using planting compatibility information.

According to the operation of the chef in the cooking process, the flavor subjective information and the sensing information change. As the flavor subjective information and the sensing information are changed, the simulation result is also dynamically changed.

The chef can create a new recipe by considering the combination of ingredients while watching the dynamically changing simulation results.

<<2. Creation of NEW recipe data using simulation results>>

According to an instruction by the chef who has received the presentation of the simulation result by the cooking simulation device 1, recipe data, which is data of a recipe used for controlling the cooking robot, may be generated.

<Creation of NEW recipe data>

It is a figure which shows the example of the flow of generation|generation of NEW recipe data.

As indicated by the arrow A1, recipe data of a certain dish is input to the cooking simulation device 1 . In the cooking simulation apparatus 1, new recipe data (NEW recipe data) is generated by updating the contents of the original recipe data using the input recipe data as original recipe data.

Recipe data is data prepared for each dish. The recipe data describes the ingredients used in each cooking process until the cooking is completed.

In the cooking simulation apparatus 1, any plant material is selected as a reference plant material from among the plant materials described in the recipe data as what is used in a cooking process. The ingredients described in the recipe data may be presented to the chef, and the ingredients used as the reference ingredients may be selected by the chef.

When a reference planting material is selected, as shown in front of arrow A2, the simulation of the state of the compatibility of the combination of a reference planting material and another planting material is performed, and a simulation result is presented. As an appropriate food material, for example, a food material not described in the recipe data, that is, a food material not scheduled to be used in the cooking process in the original recipe data is selected.

By viewing the simulation result presented by the cooking simulation apparatus 1, the chef can confirm the food material not described in the recipe data as the food material suitable for the reference food material.

When a predetermined food material is selected from among appropriate food materials by the chef uttering "using salmon", etc., as shown in front of arrow A3, the ingredients selected by the chef are used in the cooking process. Contents of the recipe data this is updated As indicated by arrow A4, the recipe data whose contents have been updated is transmitted as NEW recipe data, for example, to a server that manages the recipe data.

The chef can create new recipe data reflecting the newly conceived contents by considering the combination of ingredients while viewing the simulation results.

<Configuration of control system>

It is a figure which shows the structural example of the control system using recipe data.

The control system includes a data processing device 301 and a cooking robot 302 . The cooking robot 302 is a robot equipped with a drive system device, such as a cooking arm, and a function for cooking with various sensors. The cooking robot 302 is installed in a store such as a restaurant or in a home.

The data processing device 301 is a device that controls the cooking robot 302 . The data processing apparatus 301 is constituted by a computer or the like.

As shown in the left end of FIG. 24 , the control of the cooking robot 302 by the data processing device 301 is performed based on recipe data. When the NEW recipe data newly generated by the cooking simulation device 1 is acquired by the data processing device 301, the control of the cooking robot 302 is performed based on the NEW recipe data. In the following, the recipe data includes original recipe data managed in a server or the like, and NEW recipe data generated by the cooking simulation device 1 .

For example, when recipe data is input as indicated by the arrow A1, the data processing device 301 outputs a command command based on the description of the recipe data, as indicated by the arrow A2, thereby causing the cooking robot 302 to operate. control the cooking operation of

The cooking robot 302 drives each part, such as a cooking arm, according to the command command supplied from the data processing apparatus 301, and performs the cooking operation of each cooking process. Command The command includes information for controlling a torque, a driving direction, and a driving amount of a motor provided in the cooking arm.

While cooking is completed, command commands are sequentially output from the data processing device 301 to the cooking robot 302 . When the cooking robot 302 takes an operation according to the command command, the cooking is finally completed.

It is a figure which shows the example of description content of recipe data.

As shown in FIG. 25 , one recipe data is composed of a plurality of cooking process data sets. In the example of FIG. 25 , the cooking process data set related to the cooking process #1, the cooking process data set related to the cooking process #2, ..., and the cooking process data set related to the cooking process #N are included.

Each cooking process data set includes cooking operation information, which is information about a cooking operation for realizing a cooking process. For example, one cooking process data set is constituted by time series data of cooking operation information for realizing one cooking process.

The cooking operation information includes planting information and operation information.

The plant material information is information regarding the plant material used in a cooking process. The information about planting includes information indicating the type of planting material, the amount of planting material, the size of the planting material, and the like.

In addition, not only the foodstuffs to which cooking was not performed at all, but the cooked foodstuffs obtained by performing a certain cooking (pre-preparation) are contained in a food material. The food material information included in the cooking operation information of a certain cooking process includes information on the food material that has undergone the previous cooking process.

The operation information is information regarding the movement of the cooking arm or the like in the cooking process. The information about the movement includes information indicating the type of cooking tool used for cooking, and the like.

For example, the operation information of the cooking process for cutting a certain food includes information indicating that a kitchen knife is used as a cooking tool, information indicating the cutting position, the number of times of cutting, force control of the cutting method, angle, speed, etc. .

In addition, the operation information of the cooking process of mixing a pot containing a liquid as a food material includes information indicating using a ladle as a cooking tool, information indicating force control of a mixing method, angle, speed, time, and the like.

The operation information of the cooking process in which a certain food material is baked using an oven includes information indicating using the oven as a cooking tool, information indicating the heating power of the oven, baking time, and the like.

The operation information of the cooking process to serve beautifully includes information on the tableware used for serving beautifully, the method of arranging food materials, and information on how to put the food in a beautiful way to display the color of the food material, and the like.

26 is a diagram showing an example of a flow of reproduction of a dish based on recipe data.

As shown in FIG. 26 , the reproduction of the dish by the cooking robot 302 repeats for each cooking step that cooking is performed based on the cooking operation information at each time included in the cooking step data set described in the recipe data. is done by doing One dish is completed through a plurality of cooking steps of cooking steps #1 to #N.

27 is a diagram showing an arrangement example of the data processing device 301 .

As shown in FIG. 27A , the data processing device 301 is provided as an external device of the cooking robot 302 , for example. In the example of FIG. 27A , the data processing device 301 and the cooking robot 302 are connected via a network such as the Internet.

The command command transmitted from the data processing device 301 is received by the cooking robot 302 via a network. From the cooking robot 302 to the data processing device 301 , various data such as an image captured by the camera of the cooking robot 302 and sensor data measured by a sensor provided in the cooking robot 302 are transmitted through a network. is sent

As shown in FIG. 27B , the data processing device 301 may be provided inside the housing of the cooking robot 302 . In this case, the operation of each unit of the cooking robot 302 is controlled according to the command command generated by the data processing device 301 .

Hereinafter, description will be given mainly as to the data processing device 301 being provided as an external device of the cooking robot 302 .

<Appearance of the cooking robot>

28 is a perspective view showing the appearance of the cooking robot 302 .

As shown in FIG. 28 , the cooking robot 302 is a kitchen robot having a horizontally long rectangular parallelepiped housing 311 . Various configurations are provided inside the housing 311 serving as the main body of the cooking robot 302 .

A cooking assistance system 312 is provided on the rear side of the housing 311 . Each space formed in the cooking assistance system 312 by partitioning with a thin plate-shaped member has a function for assisting cooking by the cooking arms 321-1 to 321-4, such as a refrigerator, an oven range, and storage.

The upper plate 311A is provided with rails in the longitudinal direction, and cooking arms 321-1 to 321-4 are provided on the rails. It becomes possible for the cooking arms 321-1 to 321-4 to change a position along the rail as a movement mechanism.

The cooking arms 321-1 to 321-4 are robot arms configured by connecting a cylindrical member with a joint portion. Various operations related to cooking are performed by the cooking arms 321-1 to 321-4.

The space above the top plate 311A becomes a cooking space in which the cooking arms 321-1 to 321-4 cook.

Although four cooking arms are shown in FIG. 28, the number of cooking arms is not limited to four. Hereinafter, as appropriate, when it is not necessary to distinguish each of the cooking arms 321-1 to 321-4, it is collectively referred to as the cooking arm 321 .

29 is an enlarged view of the cooking arm 321. As shown in FIG.

As shown in FIG. 29, the attachment which has various cooking functions is provided in the front-end|tip of the cooking arm 321. As shown in FIG. As an attachment for the cooking arm 321, various attachments, such as an attachment which has a manipulator function (hand function) which grips a food material, tableware, etc., and an attachment which has a knife function to cut a food material, are prepared.

In the example of FIG. 29, the knife attachment 331-1 which is an attachment which has a knife function is provided in the cooking arm 321-1. The lump of meat placed on the top plate 311A is being cut using the knife attachment 331-1.

The cooking arm 321-2 is provided with the spindle attachment 331-2 which is an attachment used for fixing a planting material or rotating a planting material.

The cooking arm 321-3 is provided with the filler attachment 331-3 which is an attachment which has the function of the filler which peels a planting material.

The potato skin lifted by the cooking arm 321-2 using the spindle attachment 331-2 is peeled off by the cooking arm 321-3 using the peeler attachment 331-3. . In this way, it also becomes possible to perform one operation|work in connection with the some cooking arm 321.

The cooking arm 321-4 is provided with a manipulator attachment 331-4, which is an attachment having a manipulator function. Using the manipulator attachment 331-4, the frying pan containing the chicken is conveyed to the space of the cooking assistance system 312 having an oven function.

Cooking by such a cooking arm 321 is advanced by changing an attachment suitably according to the content of an operation|work. Just as the manipulator attachments 331-4 are provided in each of the four cooking arms 321, it also becomes possible to provide the same attachment to the some cooking arms 321.

The cooking by the cooking robot 302 is not only performed using the above attachment prepared as the tool for cooking arms, but is suitably performed using the same tool as the tool used by a person for cooking. For example, the knife used by a person is gripped by the manipulator attachment 331-4, and cooking, such as cutting of a plant material, is performed using the knife.

<Configuration of cooking arm>

30 is a diagram showing an external appearance of the cooking arm 321 .

As shown in FIG. 30, the cooking arm 321 is comprised by connecting the thin cylindrical member as a whole by the hinge part used as a joint part. A motor etc. which generate force for driving each member are provided in each hinge part.

As the cylindrical member, a detachable member 351 , a relay member 353 , and a base member 355 are provided in order from the tip.

The detachable member 351 and the relay member 353 are connected by a hinge part 352 , and the relay member 353 and the base member 355 are connected by a hinge part 354 .

At the front end of the detachable member 351, a detachable portion 351A from which the attachment is detachable is provided. The detachable member 351 has a detachable part 351A from which various attachments are detachable, and functions as a cooking function arm part which cooks by operating the attachment.

At the rear end of the base member 355, a detachable portion 356 installed on the rail is provided. The base member 355 functions as a movement function arm that realizes movement of the cooking arm 321 .

31 is a diagram showing an example of a movable region of each part of the cooking arm 321 .

As shown by being surrounded by the ellipse #1, the detachable member 351 becomes rotatable centering on the central axis of the circular cross section. The flat circle shown in the center of the ellipse #1 indicates the direction of the rotation axis of the dashed-dotted line.

As shown by being surrounded by circle #2, the detachable member 351 is rotatable about an axis passing through the fitting portion 351B with the hinge portion 352 . Further, the relay member 353 is rotatable about an axis passing through the fitting portion 353A with the hinge portion 352 .

The two circles shown inside the circle #2 indicate the direction (vertical direction to the ground) of each rotation axis. The movable range of the detachable member 351 centered on the shaft passing through the fitting portion 351B and the movable range of the relay member 353 centered on the shaft passing through the fitting portion 353A are, respectively, for example, range of 90 degrees.

The relay member 353 is configured by being separated by a member 353-1 on the front end side and a member 353-2 on the rear end side. As shown by being surrounded by an ellipse #3, the relay member 353 is rotatable about the central axis of the circular cross section in the connecting portion 353B of the member 353-1 and the member 353-2. . Other movable parts also have basically the same movable area.

As described above, a detachable member 351 having a detachable portion 351A at the front end, a relay member 353 connecting the detachable member 351 and the base member 355, and a base member to which the detachable portion 356 is connected at the rear end. 355 are respectively rotatably connected by a hinge part. The movement of each movable part is controlled by a controller in the cooking robot 302 according to a command command.

It is a figure which shows the example of the connection of a cooking arm and a controller.

As shown in FIG. 32 , the cooking arm 321 and the controller 361 are connected via wiring in a space 311B formed inside the housing 311 . In the example of FIG. 32 , the cooking arms 321-1 to 321-4 and the controller 361 are respectively connected via wirings 362-1 to 362-4. The flexible wirings 362-1 to 362-4 are appropriately bent according to the positions of the cooking arms 321-1 to 321-4.

<Configuration of the cooking robot 302>

33 is a block diagram showing a configuration example of the cooking robot 302 .

The cooking robot 302 is configured by connecting each part to a controller 361 ( FIG. 32 ) serving as a control device for controlling the operation of the cooking robot 302 . Among the structures shown in Fig. 33, the same reference numerals are assigned to the same components as those described above. The overlapping description is appropriately omitted.

To the controller 361 , in addition to the cooking arm 321 , a camera 401 , a sensor 402 , and a communication unit 403 are connected.

The controller 361 is constituted by a computer having a CPU, ROM, RAM, flash memory, and the like. The controller 361 executes a predetermined program by the CPU to control the overall operation of the cooking robot 302 . The data processing device 301 may be configured by the controller 361 .

For example, the controller 361 controls the communication unit 403 to transmit an image photographed by the camera 401 and sensor data measured by the sensor 402 to the data processing device 301 .

In the controller 361 , the command command acquisition unit 411 and the arm control unit 412 are realized by executing a predetermined program.

The command command acquisition unit 411 acquires a command command transmitted from the data processing device 301 and received by the communication unit 403 . The command command acquired by the command command acquisition unit 411 is supplied to the arm control unit 412 .

The arm control unit 412 controls the operation of the cooking arm 321 according to the command command acquired by the command command acquisition unit 411 .

The camera 401 takes a picture of the surroundings of the cooking robot 302 , and outputs an image obtained by shooting to the controller 361 . The camera 401 is provided at various positions such as the front of the cooking assistance system 312 and the tip of the cooking arm 321 .

The sensor 402 is constituted by various sensors such as a temperature/humidity sensor, a pressure sensor, an optical sensor, a distance sensor, a human sensor, a positioning sensor, and a vibration sensor. Measurement by the sensor 402 is performed at a predetermined cycle. Sensor data representing the measurement result by the sensor 402 is supplied to the controller 361 .

The camera 401 and the sensor 402 may be provided in a position spaced apart from the housing 311 of the cooking robot 302 .

The communication unit 403 is a wireless communication module such as a wireless LAN module and a portable communication module compliant with LTE (Long Term Evolution). The communication unit 403 communicates with the data processing device 301 and an external device such as a server on the Internet.

33 , a motor 421 and a sensor 422 are provided in the cooking arm 321 .

The motor 421 is provided in each joint of the cooking arm 321 . The motor 421 rotates around the shaft according to control by the arm control unit 412 . An encoder for measuring the amount of rotation of the motor 421, a driver for adaptively controlling the rotation of the motor 421 based on the measurement result by the encoder, and the like are also provided in each joint portion.

The sensor 422 is configured by, for example, a gyro sensor, an acceleration sensor, a touch sensor, or the like. The sensor 422 measures the angular velocity and acceleration of each joint during operation of the cooking arm 321 , and outputs information indicating the measurement result to the controller 361 . From the cooking robot 302 to the data processing device 301, sensor data indicating the measurement result of the sensor 422 is also transmitted as appropriate.

<Configuration of data processing device 301>

34 is a block diagram showing an example of the functional configuration of the data processing apparatus 301. As shown in FIG.

At least some of the functional units shown in FIG. 34 are realized by executing a predetermined program by the CPU of a computer constituting the data processing device 301 . The data processing device 301 has a configuration that is basically the same as that of the cooking simulation device 1 described with reference to FIG. 16 .

34, in the data processing apparatus 301, the command generation unit 431 is realized. The command generation unit 431 includes a recipe data acquisition unit 451 , a robot state estimation unit 452 , a control unit 453 , and a command output unit 454 .

The recipe data acquisition unit 451 acquires recipe data newly generated in the cooking simulation apparatus 1 or the like, and outputs it to the control unit 453 .

The robot state estimation unit 452 receives the image and sensor data transmitted from the cooking robot 302 . An image captured by the camera of the cooking robot 302 and sensor data measured by a sensor provided at a predetermined position of the cooking robot 302 are transmitted from the cooking robot 302 at a predetermined period. In the image captured by the camera of the cooking robot 302 , the state of the surroundings of the cooking robot 302 is captured.

The robot state estimating unit 452 analyzes the image and sensor data transmitted from the cooking robot 302 to determine the state of the cooking robot 302 , such as the state of the cooking arm 321 and the state of food. Estimate the state of the cooking process. Information indicating the surrounding state of the cooking robot 302 estimated by the robot state estimating unit 452 is supplied to the control unit 453 .

The control unit 453 generates a command command for controlling the cooking robot 302 based on the cooking process data set described in the recipe data supplied from the recipe data acquisition unit 451 . For example, a command command is generated to cause the cooking arm 321 to perform an operation as indicated by the cooking operation information included in the cooking process data set.

The state of the surroundings of the cooking robot 302 estimated by the robot state estimating unit 452 and the like are also referred to in the generation of the command command. The command command generated by the control unit 453 is supplied to the command output unit 454 .

The command output unit 454 transmits the command command generated by the control unit 453 to the cooking robot 302 .

<Configuration of cooking simulation device 1>

35 is a block diagram showing an example of the functional configuration of the cooking simulation apparatus 1 .

Among the structures shown in Fig. 35, the same reference numerals are assigned to the same components as those described above. The overlapping description is appropriately omitted. As shown in FIG. 35 , in the cooking simulation apparatus 1 , in addition to the simulation calculation unit 132 and the presentation unit 133 , an original recipe data acquisition unit 501 and a NEW recipe data generation unit 502 are realized. .

The original recipe data acquisition part 501 acquires the original recipe data used as the basis for generation|generation of NEW recipe data by communicating with the server which manages recipe data, for example. The original recipe data acquired by the original recipe data acquisition unit 501 is supplied to the simulation calculation unit 132 and the NEW recipe data generation unit 502 .

The simulation calculating part 132 selects a reference planting material from among the planting materials described in the original recipe data, and simulates the state of the compatibility of a combination with other planting materials.

The presentation unit 133 presents the simulation result by the simulation operation unit 132 to the chef.

The NEW recipe data generation unit 502 accepts the selection of planting materials by the chef who confirmed the simulation result presented by the presentation unit 133 . Selection of a planting material is performed using an audio|voice, making it select a predetermined planting material from among appropriate plantings. The NEW recipe data generation unit 502 updates the contents of the original recipe data so as to use the ingredients selected by the chef in the cooking process, and generates NEW recipe data.

<Operation of the cooking simulation device 1>

With reference to the flowchart of FIG. 36, the NEW recipe data generation process of the cooking simulation apparatus 1 is demonstrated. The processing in FIG. 36 is started when, for example, original recipe data is selected by the chef.

In step S101, the original recipe data acquisition part 501 communicates with the server which manages recipe data, and acquires original recipe data.

In step S102, the simulation calculating part 132 analyzes the description content of the original recipe data, and detects the planting material which is scheduled to be used in a cooking process.

In step S103, the simulation calculating part 132 selects a reference plant material from among the plant materials scheduled to be used in a cooking process, and performs simulation of the state of compatibility with other plant materials.

In step S104 , the presentation unit 133 presents the simulation result by the simulation calculation unit 132 to the chef.

In Step S105 , the NEW recipe data generation unit 502 accepts the selection of planting materials by the chef who confirmed the simulation result presented by the presentation unit 133 .

In step S106, the NEW recipe data generation part 502 updates the content of the original recipe data so that the food material selected by the chef may be used in a cooking process, and generate|occur|produces NEW recipe data.

<Operation of data processing device 301>

With reference to the flowchart of FIG. 37 , the processing of the data processing device 301 for controlling the operation of the cooking robot 302 will be described.

In the process shown in FIG. 37 , the NEW recipe data generated by the cooking simulation device 1 is acquired, and the cooking robot 302 is controlled according to the description of the NEW recipe data.

In step S111, the recipe data acquisition part 451 (FIG. 34) acquires the NEW recipe data generated by the cooking simulation apparatus 1 via the server etc. which manage recipe data.

In step S112, the control unit 453 selects a predetermined cooking operation based on the cooking process data set described in the recipe data, and generates a command command for performing the selected cooking operation. For example, while the cooking process data sets are selected in the order of the cooking processes, the cooking operations included in the selected cooking process are selected in the order of execution.

In step S113 , the command output unit 454 transmits the command command to the cooking robot 302 to execute the cooking operation.

In step S114 , the robot state estimating unit 452 estimates the state of the cooking robot 302 .

In step S115, the control unit 453 determines whether all the cooking operations have been completed. When it is determined in step S115 that all the cooking operations have not been completed, the flow returns to step S112, the next cooking operation is selected, and the above processing is repeated.

When it is determined in step S115 that all the cooking operations have been completed, the process ends. At this time, based on the NEW recipe data generated by the cooking simulation device 1, cooking is completed.

In this way, the cooking simulation device 1 generates recipe data for controlling a robot that cooks using the cooking arm.

38 is a diagram showing an example of a system configuration.

In the information processing unit 511 shown in FIG. 38 , a NEW recipe data generation unit 502 and a command generation unit 431 are provided. The configuration of the command generation unit 431 is the same as the configuration described with reference to FIG. 34 .

In the command generation unit 431 of FIG. 38 , the NEW recipe data generated by the NEW recipe data generation unit 502 is acquired, and the cooking robot 302 is controlled based on the NEW recipe data.

In this way, the information processing unit 511 including the NEW recipe data generation unit 502 and the command generation unit 431 may be provided in the same apparatus such as the cooking simulation apparatus 1 and the data processing apparatus 301 . .

<<3. Variant example>>

<System Configuration>

Fig. 39 is a diagram showing a configuration example of an information processing system.

In the information processing system shown in FIG. 39 , at least any one of the simulation related to cooking and the generation of NEW recipe data is performed by the information processing server 521 . The information processing server 521 has a configuration similar to that of the cooking simulation apparatus 1 described with reference to FIGS. 17, 22 and 35 .

For example, when a function for performing a cooking simulation is provided in the information processing server 521, communication is performed between the information processing server 521 and the cooking simulation device 1 provided on the chef side via the Internet. All. From the cooking simulation device 1 to the information processing server 521, the chef's voice data and the like are transmitted.

The simulation calculation unit 132 of the information processing server 521 performs a cooking simulation according to the request of the chef, transmits information indicating the simulation result to the cooking simulation device 1, and presents it to the chef.

In this way, it is possible to cause the simulation related to cooking to be performed in the information processing server 521 on the Internet.

In the control system of FIG. 24, it is assumed that the control of the cooking robot 302 is performed, but you may make it control of electronic cooking appliances, such as a microwave oven, performed based on recipe data. The electronic cooking appliance cooks by performing a cooking operation according to the command command supplied from the data processing device 301 .

In this way, it is possible to allow recipe data to be used for control of various devices that automatically perform a cooking operation.

In the above, it is assumed that the cooking simulation device 1 is used by a chef, but in the home, it may be used by a general person.

<Other examples>

・Example of computer configuration

The above-described series of processing may be executed by hardware or may be executed by software. When a series of processing is executed by software, a program constituting the software is installed in a computer built in dedicated hardware, a general-purpose personal computer, or the like.

The installed program is recorded and provided on the removable medium 114 shown in Fig. 16 made of an optical disk (CD-ROM (Compact Disc-Read Only Memory), DVD (Digital Versatile Disc), etc.) or a semiconductor memory or the like. . In addition, it may be provided through a wired or wireless transmission medium such as a local area network, the Internet, and digital broadcasting. The program can be installed in advance in the ROM 102 or the storage unit 111 .

The program executed by the computer may be a program in which processing is performed in time series according to the procedure described herein, or may be a program in which processing is performed in parallel or at a necessary timing such as when a call is made.

In this specification, a system means a set of a plurality of components (devices, modules (parts), etc.), regardless of whether all the components are in the same housing. Accordingly, a plurality of devices housed in separate housings and connected via a network, and one device in which a plurality of modules are housed in one housing are all systems.

The effect described in this specification is an illustration to the last, It is not limited, Another effect may exist.

The embodiment of the present technology is not limited to the above-described embodiment, and various changes can be made without departing from the gist of the present technology.

For example, the present technology can take the configuration of cloud computing in which one function is shared and jointly processed by a plurality of devices through a network.

In addition, each of the steps described in the above-described flowchart can be performed by a plurality of apparatuses in addition to being executed by one apparatus.

In addition, when a plurality of processes are included in one step, the plurality of processes included in the one step can be executed in a shared manner by a plurality of devices in addition to being executed by one device.

1: Cooking simulation device
11: Planting compatibility information DB
21: flavor subject information DB
22: sensing information DB
23: Chemical structure information DB
131: simulation target recognition unit
132: simulation calculation unit
133: Jessie
161: sensing information generation unit
162: flavor subjective information generating unit
163: planting compatibility information generating unit
501: original recipe data acquisition unit
502: NEW recipe data generator

Claims (16)

Sensor information obtained by measuring the flavor of the ingredients used for cooking with a sensor, planting compatibility information indicating the compatibility of the combination of the ingredients, and the flavor of the ingredients or the flavor of the combination of ingredients representing the subjective evaluation of the person The information processing apparatus provided with the presentation part which presents the state of the compatibility of the combination of the said plant material using flavor subjective information. According to claim 1,
The presenting unit is an information processing device for presenting a state of compatibility of the combination of the ingredients in association with the flavor of the ingredients described in the recipe or the flavor of the combination of the ingredients. 3. The method of claim 2,
The presenting unit is an information processing device for presenting a state of compatibility of a new combination of the planting materials not described in the recipe. According to claim 1,
The presenting unit is an information processing device for presenting a state of a match between the combinations of the ingredients in association with the operation of the user during cooking. 5. The method of claim 4,
The presenting unit is an information processing device for presenting a state of compatibility of a new combination of the food materials that the user during cooking is not aware of. According to claim 1,
The presenting unit is an information processing device for displaying a first icon representing a first plant and a second icon representing a second plant in which a combination of the first plant and the first plant satisfies a predetermined condition side by side on the display screen. 7. The method of claim 6,
The presenting unit is configured to display a plurality of the second icons around the first icon based on the first icon. 7. The method of claim 6,
The presentation unit, when the compatibility of the combination of the first planting material and the second planting material satisfies the above condition, the first icon and the An information processing device for displaying a state in which a second icon is fused on the display screen. 7. The method of claim 6,
The presentation unit, when the affinity of the combination of the first planting material and the second planting material satisfies the above condition, in a state in which the flavor of the combination of the first planting material and the second planting material can be identified An information processing device for displaying a state in which a second icon is fused on the display screen. 7. The method of claim 6,
The presenting unit is an information processing device for moving at least any one of the first icon and the second icon according to the compatibility of the combination of the first planting material and the second planting material. According to claim 1,
The presenting unit is an information processing device that uses chemical structure information indicating the chemical structure of the planting material to present a state of compatibility of the planting material combination. According to claim 1,
The said sensor information is an information processing apparatus which is information obtained by measuring the flavor of the said food material with a flavor measuring device in a cooking process. According to claim 1,
The said flavor subjective information is information which shows the subjective evaluation value of the flavor of the person who ate the said food material, The information processing apparatus. According to claim 1,
The information processing apparatus further comprising a recipe generating unit which generates a new recipe using the combination of the food materials selected by the user from among the combinations of the presented food materials. 15. The method of claim 14,
Information further comprising a command generation unit that generates a command command for causing the cooking robot to execute a cooking operation according to each process described in the new recipe, based on the recipe data indicating the new recipe generated by the recipe generation unit processing unit. information processing device,
Sensor information obtained by measuring the flavor of the ingredients used for cooking with a sensor, planting compatibility information indicating the compatibility of the combination of the ingredients, and the flavor of the ingredients or the flavor of the combination of ingredients representing the subjective evaluation of the person An information processing method for presenting the state of compatibility of the combination of the above-mentioned food materials using flavor subjective information.

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